def reset(self, startType, clear=None, mode='hw'):
if clear is None:
if startType == 'hot':
navBbrMask = 0
elif startType == 'warm':
navBbrMask = 1
elif startType == 'cold':
navBbrMask = 0xff
else:
navBbrMask = UbloxMessage.buildMask(
clear, ubloxMessage.navBbrMaskShiftDict)
resetMode = ubloxMessage.resetModeDict[mode]
logging.info('Sending restart command... this will not be ACKed.')
self.sendMessage("CFG-RST", 4, {
'nav_bbr': navBbrMask,
'Reset': resetMode
})
with serial.threaded.ReaderThread(ser, UbloxReader) as ublox:
if args.output is not None:
ublox.saveFileName = os.path.join(args.output, 'ublox')
ublox.logger = logger
ublox.setSaveInterval(args.interval)
ublox.printMessageFlag = False
ublox.userHandler = messageHandler
if args.configure:
logger.info('*** Configuring receiver...')
# Set measurement rate to 1 Hz during config to prevent problems
logger.info('Setting measurement rate to 1 Hz...')
ublox.sendConfig(ser, 'CFG-RATE', 6, {'Meas': 1000, 'Nav': 1, 'Time': 1})
# Reset to default config
clearMask = UbloxMessage.buildMask(['msgConf'], clearMaskShiftDict)
logger.info('Restoring message configuration...')
ublox.sendConfig(ser, 'CFG-CFG', 12, {'clearMask': clearMask, 'saveMask': 0, 'loadMask': clearMask})
# Set power management settings
logger.info('Setting power management to full power...')
ublox.sendConfig(ser, 'CFG-PMS', 8, {'Version': 0, 'PowerSetupValue': 0, 'Period': 0, 'OnTime': 0})
# Disable NMEA output - UBX only
logger.info('Polling for port config (CFG-PRT)...')
msgFormat, msgData = ublox.poll(ser, 'CFG-PRT')
UbloxMessage.printMessage(msgFormat, msgData)
logger.info('Disabling NMEA output (CFG-PRT)...')
msgData[1]["Out_proto_mask"] = 1
ublox.sendConfig(ser, msgFormat, 20, msgData)
if args.debug:
logging.basicConfig(level=logging.DEBUG)
elif args.verbose:
logging.basicConfig(level=logging.INFO)
else:
logging.basicConfig(level=logging.ERROR)
if args.clear is None:
if args.startType == 'hot':
navBbrMask = 0
elif args.startType == 'warm':
navBbrMask = 1
elif args.startType == 'cold':
navBbrMask = 0xff
else:
navBbrMask = UbloxMessage.buildMask(args.clear,
UbloxMessage.navBbrMaskShiftDict)
resetMode = resetModeDict[args.mode]
ser = serial.Serial(args.device, 115200, timeout=1)
with serial.threaded.ReaderThread(ser, UbloxReader) as protocol:
msgFormat, msgData = protocol.poll(ser, 'MON-VER')
UbloxMessage.printMessage(msgFormat,
msgData,
header=datetime.datetime.now().strftime(
'[%Y-%m-%d %H:%M:%S.%f]\n'))
print('\nSending reset...')
protocol.sendMessage(ser, "CFG-RST", 4, {
'nav_bbr': navBbrMask,
loop.quit()
elif ty == "ACK-NACK":
print('\nFailed to restore settings!')
loop.quit()
else:
elapsed = time.time() - lastStateTransitionTime
if elapsed > 1:
print('\n*** Configuration load request failed!')
loop.quit()
import sys; sys.exit(1)
return True
if __name__=='__main__':
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('settings', nargs='+', choices=(clearMaskShiftDict.keys() + ['all', 'none']), help='Specify the settings to be reset to default. \'all\' will reset all settings and \'none\' will save none.')
parser.add_argument('--device', '-d', help='Specify the serial port device to communicate with. e.g. /dev/ttyO5')
args = parser.parse_args()
if args.device is not None:
t = ubx.Parser(callback, device=args.device)
else:
t = ubx.Parser(callback)
clearMask = UbloxMessage.buildMask(args.settings, clearMaskShiftDict)
print('Restoring default configuration...')
t.send("CFG-CFG", 12, {'clearMask': clearMask, 'saveMask': 0, 'loadMask': clearMask})
lastStateTransitionTime = time.time()
loop.run()